Hi

http://hackaday.com/ is a nice site to get ideas. Many of the suggestions 
Chris did can be found there. 

Using "serial over the audio connector"
http://hackaday.com/2010/11/10/android-talks-pulsewave/

Using ADB as suggested
http://hackaday.com/2011/03/29/propeller-android-communications-using-debug-mode/

Controlling something like a stepper motor will always requires some 
additional and usually expensive layer of communication. If you have a real 
phone
use the internet as medium but that is hardly fun. The most practical is to 
use BT serial to an arduino board but that is not physical.

Greetings



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